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<div class="title">linear_solver_dense.h</div>  </div>
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<a href="linear__solver__dense_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 H. Strasdat</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// Copyright (C) 2012 R. Kümmerle</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#ifndef G2O_LINEAR_SOLVER_DENSE_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#define G2O_LINEAR_SOLVER_DENSE_H</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;../core/linear_solver.h&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;../core/batch_stats.h&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include&lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include&lt;eigen3/Eigen/Cholesky&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> MatrixType&gt;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html">   46</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_linear_solver_dense.html">LinearSolverDense</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_linear_solver.html">LinearSolver</a>&lt;MatrixType&gt;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html#a25d8767ad60e944d8518348a136830da">   49</a></span>&#160;      <a class="code" href="classg2o_1_1_linear_solver_dense.html#a25d8767ad60e944d8518348a136830da">LinearSolverDense</a>() :</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <a class="code" href="classg2o_1_1_linear_solver.html">LinearSolver</a>&lt;MatrixType&gt;(),</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <a class="code" href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">_reset</a>(true)</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html#a2b3cbb77fa958bf322b98e38ec3e29c2">   55</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_linear_solver_dense.html#a2b3cbb77fa958bf322b98e38ec3e29c2">~LinearSolverDense</a>()</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html#a24f68ecd4b022269dbfc4d990eb5c57b">   59</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_dense.html#a24f68ecd4b022269dbfc4d990eb5c57b">init</a>()</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      {</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <a class="code" href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">_reset</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      }</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html#a8b6eafa6e53b9f705a4e8eb436eeb403">   65</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_dense.html#a8b6eafa6e53b9f705a4e8eb436eeb403">solve</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A, <span class="keywordtype">double</span>* x, <span class="keywordtype">double</span>* b)</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordtype">int</span> n = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordtype">int</span> m = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>();</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        Eigen::MatrixXd&amp; H = <a class="code" href="classg2o_1_1_linear_solver_dense.html#a5ca6a1f2358ce0620dbdbae3fdc9fc99">_H</a>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordflow">if</span> (H.cols() != n) {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          H.resize(n, m);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          <a class="code" href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">_reset</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">_reset</a>) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <a class="code" href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">_reset</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          H.setZero();</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="comment">// copy the sparse block matrix into a dense matrix</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">int</span> c_idx = 0;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab818f8923b845d08a38e8de1145fbb65">blockCols</a>().size(); ++i) {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="keywordtype">int</span> c_size = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#afe3ef87aecd7a76eab27e91131dbe0c1">colsOfBlock</a>(i);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          assert(c_idx == A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a502857f0a792ad37055964705a983590">colBaseOfBlock</a>(i) &amp;&amp; <span class="stringliteral">&quot;mismatch in block indices&quot;</span>);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap</a>&amp; col = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab818f8923b845d08a38e8de1145fbb65">blockCols</a>()[i];</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <span class="keywordflow">if</span> (col.size() &gt; 0) {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            <span class="keywordflow">for</span> (it = col.begin(); it != col.end(); ++it) {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;              <span class="keywordtype">int</span> r_idx = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#af718590d044a1b44e4079136c29efcd1">rowBaseOfBlock</a>(it-&gt;first);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;              <span class="comment">// only the upper triangular block is processed</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;              <span class="keywordflow">if</span> (it-&gt;first &lt;= (<span class="keywordtype">int</span>)i) {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                <span class="keywordtype">int</span> r_size = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a637d4a6d2d6f444be55a158497c8a07c">rowsOfBlock</a>(it-&gt;first);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                H.block(r_idx, c_idx, r_size, c_size) = *(it-&gt;second);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                <span class="keywordflow">if</span> (r_idx != c_idx) <span class="comment">// write the lower triangular block</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                  H.block(c_idx, r_idx, c_size, r_size) = it-&gt;second-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a2d449bb4054991867a9b50b6c0d978eb">transpose</a>();</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;              }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          c_idx += c_size;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="comment">// solving via Cholesky decomposition</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        Eigen::VectorXd::MapType xvec(x, m);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        Eigen::VectorXd::ConstMapType bvec(b, n);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classg2o_1_1_linear_solver_dense.html#a20fc35e2f25107a6e36211861034aae0">_cholesky</a>.compute(H);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classg2o_1_1_linear_solver_dense.html#a20fc35e2f25107a6e36211861034aae0">_cholesky</a>.isPositive()) {</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          xvec = <a class="code" href="classg2o_1_1_linear_solver_dense.html#a20fc35e2f25107a6e36211861034aae0">_cholesky</a>.solve(bvec);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        }</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      }</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">  116</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">_reset</a>;</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html#a5ca6a1f2358ce0620dbdbae3fdc9fc99">  117</a></span>&#160;      Eigen::MatrixXd <a class="code" href="classg2o_1_1_linear_solver_dense.html#a5ca6a1f2358ce0620dbdbae3fdc9fc99">_H</a>;</div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_dense.html#a20fc35e2f25107a6e36211861034aae0">  118</a></span>&#160;      Eigen::LDLT&lt;Eigen::MatrixXd&gt; <a class="code" href="classg2o_1_1_linear_solver_dense.html#a20fc35e2f25107a6e36211861034aae0">_cholesky</a>;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  };</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}<span class="comment">// end namespace</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a2d449bb4054991867a9b50b6c0d978eb"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a2d449bb4054991867a9b50b6c0d978eb">g2o::SparseBlockMatrix::transpose</a></div><div class="ttdeci">bool transpose(SparseBlockMatrix&lt; MatrixTransposedType &gt; *&amp;dest) const</div><div class="ttdoc">transposes a block matrix, The transposed type should match the argument false on failure ...</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:138</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html"><div class="ttname"><a href="classg2o_1_1_linear_solver.html">g2o::LinearSolver</a></div><div class="ttdoc">basic solver for Ax = b </div><div class="ttdef"><b>Definition:</b> linear_solver.h:41</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html_a5ca6a1f2358ce0620dbdbae3fdc9fc99"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html#a5ca6a1f2358ce0620dbdbae3fdc9fc99">g2o::LinearSolverDense::_H</a></div><div class="ttdeci">Eigen::MatrixXd _H</div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:117</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab818f8923b845d08a38e8de1145fbb65"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab818f8923b845d08a38e8de1145fbb65">g2o::SparseBlockMatrix::blockCols</a></div><div class="ttdeci">const std::vector&lt; IntBlockMap &gt; &amp; blockCols() const</div><div class="ttdoc">the block matrices per block-column </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:178</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html_a24f68ecd4b022269dbfc4d990eb5c57b"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html#a24f68ecd4b022269dbfc4d990eb5c57b">g2o::LinearSolverDense::init</a></div><div class="ttdeci">virtual bool init()</div><div class="ttdoc">init for operating on matrices with a different non-zero pattern like before </div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:59</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html">g2o::LinearSolverDense</a></div><div class="ttdoc">linear solver using dense cholesky decomposition </div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:46</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a502857f0a792ad37055964705a983590"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a502857f0a792ad37055964705a983590">g2o::SparseBlockMatrix::colBaseOfBlock</a></div><div class="ttdeci">int colBaseOfBlock(int c) const</div><div class="ttdoc">where does the col at block-col r starts? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:111</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html_a8b6eafa6e53b9f705a4e8eb436eeb403"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html#a8b6eafa6e53b9f705a4e8eb436eeb403">g2o::LinearSolverDense::solve</a></div><div class="ttdeci">bool solve(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A, double *x, double *b)</div><div class="ttdoc">Assumes that A is the same matrix for several calls. </div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:65</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html_a20fc35e2f25107a6e36211861034aae0"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html#a20fc35e2f25107a6e36211861034aae0">g2o::LinearSolverDense::_cholesky</a></div><div class="ttdeci">Eigen::LDLT&lt; Eigen::MatrixXd &gt; _cholesky</div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:118</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html_a25d8767ad60e944d8518348a136830da"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html#a25d8767ad60e944d8518348a136830da">g2o::LinearSolverDense::LinearSolverDense</a></div><div class="ttdeci">LinearSolverDense()</div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:49</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a637d4a6d2d6f444be55a158497c8a07c"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a637d4a6d2d6f444be55a158497c8a07c">g2o::SparseBlockMatrix::rowsOfBlock</a></div><div class="ttdeci">int rowsOfBlock(int r) const</div><div class="ttdoc">how many rows does the block at block-row r has? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:102</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ac9dfcc991976a6c21dcbed961f06282d"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">g2o::SparseBlockMatrix::cols</a></div><div class="ttdeci">int cols() const</div><div class="ttdoc">columns of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:69</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_af718590d044a1b44e4079136c29efcd1"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#af718590d044a1b44e4079136c29efcd1">g2o::SparseBlockMatrix::rowBaseOfBlock</a></div><div class="ttdeci">int rowBaseOfBlock(int r) const</div><div class="ttdoc">where does the row at block-row r starts? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:108</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaa6ca1ae454ed70f62992b6401645f4e"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">g2o::SparseBlockMatrix::IntBlockMap</a></div><div class="ttdeci">std::map&lt; int, SparseMatrixBlock * &gt; IntBlockMap</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:73</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html_a2b3cbb77fa958bf322b98e38ec3e29c2"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html#a2b3cbb77fa958bf322b98e38ec3e29c2">g2o::LinearSolverDense::~LinearSolverDense</a></div><div class="ttdeci">virtual ~LinearSolverDense()</div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:55</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_afe3ef87aecd7a76eab27e91131dbe0c1"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#afe3ef87aecd7a76eab27e91131dbe0c1">g2o::SparseBlockMatrix::colsOfBlock</a></div><div class="ttdeci">int colsOfBlock(int c) const</div><div class="ttdoc">how many cols does the block at block-col c has? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:105</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_dense_html_a2d82ac52c9c24501cccee3ef3cb575fe"><div class="ttname"><a href="classg2o_1_1_linear_solver_dense.html#a2d82ac52c9c24501cccee3ef3cb575fe">g2o::LinearSolverDense::_reset</a></div><div class="ttdeci">bool _reset</div><div class="ttdef"><b>Definition:</b> linear_solver_dense.h:116</div></div>
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